The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot
This study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motion control. The rods emulate bones, providing foundationa...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/1/4 |
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| _version_ | 1832589007240822784 |
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| author | Jinrun Li Yangmin Li |
| author_facet | Jinrun Li Yangmin Li |
| author_sort | Jinrun Li |
| collection | DOAJ |
| description | This study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motion control. The rods emulate bones, providing foundational support, while the cables mimic muscles, driving motion through coordinated tension. This design enables planar motions with three degrees of freedom, and a structural configuration that mitigates sagging and vibration for improved stability and accuracy by introducing rigid structure. The study develops detailed kinematic models, including Jacobian analysis for motion control, and evaluates the workspace using geometric and Monte Carlo methods. |
| format | Article |
| id | doaj-art-c479c0dee25c41bbb6fd9385ddd308b5 |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-c479c0dee25c41bbb6fd9385ddd308b52025-01-24T13:24:33ZengMDPI AGBiomimetics2313-76732024-12-01101410.3390/biomimetics10010004The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel RobotJinrun Li0Yangmin Li1Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, ChinaDepartment of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, ChinaThis study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motion control. The rods emulate bones, providing foundational support, while the cables mimic muscles, driving motion through coordinated tension. This design enables planar motions with three degrees of freedom, and a structural configuration that mitigates sagging and vibration for improved stability and accuracy by introducing rigid structure. The study develops detailed kinematic models, including Jacobian analysis for motion control, and evaluates the workspace using geometric and Monte Carlo methods.https://www.mdpi.com/2313-7673/10/1/4cable-driven parallel robotkinematicworkspace |
| spellingShingle | Jinrun Li Yangmin Li The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot Biomimetics cable-driven parallel robot kinematic workspace |
| title | The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot |
| title_full | The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot |
| title_fullStr | The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot |
| title_full_unstemmed | The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot |
| title_short | The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot |
| title_sort | structural design kinematics and workspace analysis of a novel rod cable hybrid cable driven parallel robot |
| topic | cable-driven parallel robot kinematic workspace |
| url | https://www.mdpi.com/2313-7673/10/1/4 |
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